Multiagent Fuzzy Reinforcement Learning With LLM for Cooperative Navigation of Endovascular Robotics

摘要

Endovascular interventions require precise, cooperative control of multiple instruments, such as guidewires and catheters, to navigate complex vascular anatomies. Current robotic systems, reliant on leader-follower control, depend heavily on operator expertise and lack intelligence. Learning-based methods, often limited to single-instrument control, fall short in complex clinical scenarios requiring multi-instrument coordination. This study proposes a Multi-Agent Fuzzy Reinforcement Learning (MAFRL) framework, guided by large language models (LLMs), for task-level autonomous, cooperative navigation in endovascular robotics. LLMs provide procedural priors and context-aware policy guidance, enabling adaptive decision-making for collaborative guidewire and catheter agents. Central to the framework, fuzzy reinforcement learning mitigates LLM-induced uncertainties by adaptively embedding clinical constraints into reward functions, ensuring strict adherence to procedural safety and precise alignment with the complexities of real-world endovascular interventions. Validated in a 3D vascular simulation, this approach achieves superior navigation performance and procedural efficiency compared to conventional methods, underscoring the transformative potential of fuzzy reinforcement learning in advancing LLM-guided MARL for endovascular robotics.